ICRA 2011 Paper Abstract


Paper WeA208.4

Shin, Hyun P. (Seoul National University), Lee, SungCheul (Korea Institute of Machinery and Materials), Jeong, Jay (Kookmin University), Kim, Jongwon (Seoul National University)

Kinematic Optimization for Isotropic Stiffness of Redundantly Actuated Parallel Manipulators

Scheduled for presentation during the Regular Sessions "Parallel Robots II" (WeA208), Wednesday, May 11, 2011, 10:50−11:05, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Mechanism Design of Manipulators, Parallel Robots, Redundant Robots


A kinematic optimization procedure for redundantly actuated parallel manipulator is developed to ensure the isotropic antagonistic stiffness in a workspace. The kinematic parameters of the mechanism are optimized to maximize and equal out antagonistic stiffness of the redundantly actuated manipulator when size and shape of the usable workspace are given but position in the entire workspace is not. The proposed procedure is verified with a 2-DOF planar manipulator by experiments. The experimental results show that the proposed procedure is useful for designing the redundantly actuated parallel manipulator with isotropic antagonistic stiffness in a predefined usable workspace as a design constraint.



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